• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.10
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• pp.1683-1693
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• 1997

In this paper, a new nonlinear dynamic model is derived for a 2-dimensional overhead crane based on a new definition of 2-degree-of-freedom swing angle, and a new anti-swing control law is proposed for the crane. The dynamic model and control law take simultaneous travel and traverse motions of the crane into consideration. The model is first linearized for small motions of the crane load about the vertical stable equilibrium. Then the model becomes decoupled and symmetric with respect to the travel and traverse axes of the crane. From this result, a decoupled anti-swing control law is proposed based on the linearized model via the loop shaping and root locus methods. This decoupled method guarantees not only fast damping of load-swing but also zero steady state position error with optimal transient response for the 2-dimensional motion of the crane. Finally, the proposed control method is evaluated by controlling the simultaneous travel and traverse motions of a 2-dimensional prototype overhead crane. The effectiveness of the proposed control method is then proven by the experimental results.

• Journal of Broadcast Engineering
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• v.22 no.6
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• pp.817-828
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• 2017

In this paper, we propose an efficient stabilization algorithm for 360 VR sequence, where the geometric information and the relationship between various projection formats have been utilized. The proposed scheme consists of '1st stitching', 'extraction of wide angle picture from VR data', 'stabilization', and '2nd stitching'. The simulation results show that the proposed method outperforms the conventional algorithms in the viewpoint of image quality for end-user.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.19 no.1
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• pp.145-152
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• 2019

In this paper, we proposed a shaking image stabilization algorithm using deep learning. The proposed algorithm utilizes deep learning, unlike some 2D, 2.5D and 3D based stabilization techniques. The proposed algorithm is an algorithm that extracts and compares features of shaky images through CNN network structure and LSTM network structure, and transforms images in reverse order of movement size and direction of feature points through the difference of feature point between previous frame and current frame. The algorithm for stabilizing the shake is implemented by using CNN network and LSTM structure using Tensorflow for feature extraction and comparison of each frame. Image stabilization is implemented by using OpenCV open source. Experimental results show that the proposed algorithm can be used to stabilize the camera shake stability in the up, down, left, and right shaking images.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.9
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• pp.166-171
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• 1999

An overhead crane system consists of trolley, girder, rope, object, trolley motor, girder motor, and hoist motor. An analytic model which derived from the modelling of the overhead crane system is nonlinear model which includes the swing and the twist angle of the object. this model consists of the equation of motion for motors and object. If the swing angle and the acceleration of Z for the object are small, this model becomes a simple nonlinear model which doesn't include the swing and the twist angle of the object. From the results of computer simulation, the characteristics of an actual overhead crane system could be predicted by the simple nonlinear model.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.2
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• pp.297-304
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• 1997

This paper presents a systematic design method of an anti-swing control law for overhead cranes. A velocity servo system for the trolley of a crane is designed based on the dynamics of the trolley and its load. The velocity servo system compensates for the effects of load swing on the trolley dynamics so that the velocity servo is independent of load swing. The velocity servo system is used for the design of a position servo system for the trolley via the loop shaping method. The position servo system and the swing dynamics of the load are then used to design an angle control system for load swing based on the root locus method. The combined position servo and the angle control systems constitute the overall control system. In the presence of low frequency disturbances, the proposed control law guarantees accurate position control for the trolley and fast damping for load swing. Furthermore, the performance of the proposed control law is independent of the mass of the load. Experimental results on a prototype crane show the effectiveness of the proposed anti-swing control law.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.9
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• pp.1468-1474
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• 2001

In this paper, a new fuzzy-logic anti-swing control scheme is proposed for a three-dimensional overhead crane. The proposed control consists of a position servo control and a fuzzy-logic control. The position servo control is used to control the trolley position and rope length, and the fuzzy-logic control is used to suppress load swing. The proposed control guarantees not only prompt suppression of load swing but also accurate control of trolley position and rope length for the simultaneous travel, traverse, and hoisting motions of the crane. The effectiveness of the proposed control is shown by experiments with a prototype three-dimensional overhead crane.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2009.05a
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• pp.179-183
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• 2009

본 연구는 공작기계중 대표적인 CNC LATHE의 검사항목에 관한 문헌연구를 통하여 기초 정밀도 개선 부품 적용 및 정적, 동적 정밀도 보정을 위한 기초 자료를 제시 한다. 그리고 공작기계의 기본 성능과 검사항목과의 관계를 정량적으로 연구하여 각 항목별 허용치를 제시함으로 고품질의 제품을 생산할 수 있는 데이터베이스와 관련 지침을 소개한다.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2020.07a
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• pp.279-281
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• 2020

본 논문은 고정되지 않고 흔들리는 영상을 각 프레임마다 이미지 스티칭(Image Stitching)으로 비디오를 구성하였을 때 생기는 영상이 심하게 흔들리는 문제 등을 보완하기 위해 새로운 비디오 스티칭(Video Stitching) 방법을 제안한다. NISwGSP 알고 리즘으로 각 프레임 이미지를 스티칭하고 스티칭 형태를 어느 정도 유지시켜주는 새로운 코스트 함수를 도입하여 스티칭 영상의 흔들림 문제를 해결한다. 메쉬(Mesh) 기반 이미지 스티칭 알고리즘인 NISwGSP를 써서 비디오 스티칭을 할 때 메쉬의 버텍스(Vertices)를 이전 프레임의 버텍스로 유지하도록 하여 스티칭 형태를 고정시키는 것이 본 논문에서 제시하는 방법이다.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.37 no.3
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• pp.163-173
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• 2001

The dynamic behavior characteristics of a small fishing crane for inshore and coastal fishing vessels was experimentally analyzed in order to improve the fishing operation and to reduce considerably manual work of fisherman. The small fishing crane was designed to be controlled electro-hydraulically by means of proportional valves and solenoid valves, and also to be controlled the speed of each operation. The dynamic behavior characteristics was investigated by measuring the changes of parameters such as oil pressure, swing angle of load, load tension, the lifting angle and the swing angle of crane arm when the arms extended in a side way was given a test load. The results obtained are summarized as follows: 1. The designed small fishing crane can be proportionally controlled by means of proportional valves and rapidly by operating the solenoid valves, respectively. The capacity, turning angle, maximum reach of crane were 2 T-M, $180^\circ$, 3.7m, respectively. 2. The vertical change of crane arm on the extension of lifting cylinder was $1.2^\circ$/cm, and the swing speed of crane arm due to the extension of swing cylinder by on/off operations of solenoid valves was $15^\circ$/sec, with the swing period of 1.4 sec and the angle fluctuation of $\pm$11.0$^{\circ}$. 3. When changing simultaneously the horizontal and vertical positions of the lifting load by on/off operations of solenoid valves, the swing and lifting speeds of crane arm were $4.46^\circ$/sec and $6.4^\circ$/sec, respectively. 4. The movements of the designed crane were particularly smooth as they are controlled with the aid of proportional valves than by means of solenoid valves.

• Journal of Navigation and Port Research
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• v.29 no.8 s.104
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• pp.747-753
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• 2005

In this paper, as an anti-sway control strategy of container cranes, we investigate a variable structure control in which the moving load follows a given trajectory, whereas both the trolley and hoist controllers achieve their positioning problems. It is crucial, in an automated container terminal, that collisions should be avoided during the transference of containers from one place to another. It is also necessary, in the case of a quay crane, to select suitable loading and unloading trajectories of containers, so that possible collisions with surrounding obstacles are avoided. After a brief introduction of the mathematical model, a robust control scheme (i.e., a second-order sliding mode control that guarantees a fast and precise transference and a suppression of the resulted swing) is presented. Despite model uncertainties and unmodeled actuators dynamics, the swing suppression from the given trajectory is obtained by constraining the system motion on suitable sliding surfaces, which include both the desired path and the swing angle. The proposed controller has been tested with a laboratory-size pilot crane. Experimental results are provided.